CN115068231A - Mobile device, and mapping method, control method and medium of manipulating apparatus thereof - Google Patents
Mobile device, and mapping method, control method and medium of manipulating apparatus thereof Download PDFInfo
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Abstract
The invention discloses a mapping method, a control method and a medium for a mobile device and a manipulator thereof, wherein the method comprises the following steps: acquiring coordinate data of the operating device, wherein the coordinate data comprises a first coordinate and a second coordinate; and mapping the first coordinate to a target straight-moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target rotating speed of the mobile equipment according to a preset second nonlinear function. According to the mapping method of the operating device, the first coordinate is mapped to the target straight-moving speed of the mobile equipment according to a preset first nonlinear function, and the second coordinate is mapped to the target rotating speed of the mobile equipment according to a preset second nonlinear function, so that the control resolution in different speed ranges can be changed, and the control experience is improved.
Description
Technical Field
The present invention relates to the field of mobile device control technologies, and in particular, to a mapping method, a control method, and a medium for a mobile device and an operating device thereof.
Background
The mobile device is generally controlled by the manipulating device, so that the mapping relationship between the manipulating device and the speed of the mobile device directly influences the manipulation performance of the mobile device. In the related art, coordinate data of a manipulator is directly and linearly mapped to the speed of the mobile equipment, and the mapping method has the problems of high requirement on the precision of the manipulator, difficulty in controlling linear walking, poor controllability and the like.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a mapping method for an operating device, so as to change control resolution in different speed ranges and improve the operating experience.
A second object of the present invention is to provide a control method of a mobile device.
A third object of the invention is to propose a computer-readable storage medium.
A fourth object of the invention is to propose a mobile device.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a mapping method for an operating device, where the method is used for a mobile device, and the method includes: acquiring coordinate data of a manipulation device, wherein the coordinate data comprises a first coordinate and a second coordinate; and mapping the first coordinate to a target straight-moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target rotating speed of the mobile equipment according to a preset second nonlinear function.
According to the mapping method of the operating device, the first coordinate is mapped to the target straight-moving speed of the mobile equipment according to the preset first nonlinear function, and the second coordinate is mapped to the target rotating speed of the mobile equipment according to the preset second nonlinear function, so that the control resolution in different speed ranges can be changed, and the control experience is improved.
In order to achieve the above object, a second embodiment of the present invention provides a method for controlling a mobile device, including: obtaining a target straight-moving speed and a target rotating speed of the mobile equipment by utilizing the mapping method of the operating device; and controlling the mobile equipment according to the target straight-moving speed and the target rotating speed.
According to the control method of the mobile equipment, the first coordinate is mapped to the target straight-moving speed of the mobile equipment according to the preset first nonlinear function, and the second coordinate is mapped to the target rotating speed of the mobile equipment according to the preset second nonlinear function, so that the control resolution in different speed ranges can be changed, and the control experience is improved.
To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the above mapping method for a manipulator or implementing the above control method for a mobile device.
In order to achieve the above object, a fourth aspect of the present invention provides a mobile device, including a memory, a processor, and a computer program stored on the memory, where the computer program, when executed by the processor, implements the mapping method of the manipulating device described above, or implements the control method of the mobile device described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of an operator mapping method of an embodiment of the present invention;
FIG. 2 is a schematic coordinate diagram of an exemplary manipulator of the present invention;
FIG. 3 is a schematic coordinate diagram of an operator of another example of the present invention;
FIG. 4 is a flowchart of step S102 of an operator mapping method according to an example of the present invention;
FIG. 5 is a schematic diagram of the present invention illustrating the division of areas in a predetermined anti-shake coordinate system;
FIG. 6 is a flow chart of a coordinate transformation method of one example of the invention;
FIG. 7 is a schematic illustration of a mapping relationship between a first coordinate and a target straight-ahead rotational speed according to an example of the invention;
FIG. 8 is a schematic illustration of a mapping relationship between a second coordinate and a target straight-ahead rotational speed according to an example of the invention;
fig. 9 is a flowchart of a control method of a mobile device of an embodiment of the present invention;
fig. 10 is a flowchart of step S902 in the control method of the mobile device according to an example of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A mapping method, a control method, and a medium of a mobile device and a manipulation apparatus thereof according to an embodiment of the present invention are described below with reference to fig. 1 to 10.
Fig. 1 is a flowchart of a mapping method of an operating device according to an embodiment of the present invention. In this embodiment, the mapping method of the manipulating device is used for a mobile device, and particularly can be a differential-speed-driven mobile device, such as a smart wheelchair. The mobile equipment is provided with an operating device used for controlling the mobile equipment to move.
As shown in fig. 1, the mapping method of the manipulating device includes:
s101, coordinate data of the operating device are acquired, wherein the coordinate data comprise a first coordinate and a second coordinate.
Specifically, referring to fig. 2 and 3, a rectangular coordinate system may be established with the initial position of the manipulating device (e.g., the joystick) as a central point, and the first coordinate may be a Y-axis coordinate for controlling the speed of the mobile device; the second coordinate may be an X-axis coordinate for implementing control of turning of the mobile device. When the operating device is operated, the operating device can move in the rectangular area shown in fig. 2 and 3.
In this embodiment, other coordinate systems may also be established according to the active region of the manipulating device, for example, when the active region of the manipulating device is a parallelogram, the initial position of the manipulating device may be the central point, and two adjacent sides of the parallelogram and the parallel are used as coordinate axes to establish a coordinate system; for another example, when the active area of the manipulating device is a spherical surface (e.g., a hemispherical surface), the initial position of the manipulating device may be a central point, and two perpendicular arcs may be used as coordinate axes to establish a spherical coordinate system, where the first coordinate and the second coordinate may be coordinates of a projection point of a point on the spherical coordinate system on a tangent plane, where the tangent plane is perpendicular to the two arcs.
It should be noted that, if the coordinate data of the manipulating device is taken from a non-predetermined anti-shake coordinate system, that is, not taken from a predetermined anti-shake coordinate system (the predetermined anti-shake coordinate system may be a rectangular coordinate system as shown in fig. 3), as shown in fig. 2, in the non-predetermined anti-shake coordinate system, the manipulating device is only active in one quadrant of the coordinate system, and at this time, the coordinate system may be further transformed into the predetermined anti-shake coordinate system, that is, the coordinate data of the manipulating device is transformed into the coordinate data under the predetermined anti-shake coordinate system, so as to facilitate the subsequent processing. Referring specifically to FIGS. 2 and 3, the x and y coordinate ranges from 0-255 for the operator of FIG. 2 to the controller are mapped to-128-127 of FIG. 3.
And S102, mapping the first coordinate to a target straight-moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target rotating speed of the mobile equipment according to a preset second nonlinear function.
In particular, the speed increases more slowly, since the further away the steering device is from the central point; the speed increases faster closer to the central point, so the invention adopts a nonlinear mapping mode to map the coordinate data of the manipulating device (such as a joystick) to the target speed of the mobile equipment, so that the increasing rate of the target speed is in a decreasing trend along with the increase of the first coordinate. Taking any three points (Vx1, Vy1), (Vx2, Vy2), (Vx3, Vy3) on the first nonlinear function corresponding curve as an example, the target moving speeds corresponding to Vy1 > Vy2 > Vy3, Vy1, Vy2, Vy3 are v1, v2, v3 respectively, then v1 > v2 > v3, and (v1-v2) < (v2-v3), that is, the target rotating speed has a larger rate of change at a position close to the center point than at a position far from the center point of the coordinate system shown in fig. 3. The influence of the movement of the operating device on the speed of the mobile equipment is small in the high-speed stage; in a low-speed stage, the influence of the movement of the control device on the mobile equipment is large, so that the target speed obtained by adopting the nonlinear mapping mode is used for controlling the mobile equipment, the control resolution in different speed ranges can be changed, the control experience is improved, and the mobile equipment can have a certain anti-shaking function in a high-speed stage and can run more stably; the requirement of a user for rapidly increasing the speed can be met in the low-speed stage, and the user experience is improved. And the coordinate data are mapped into two target speeds, namely the target straight-moving speed and the target rotating speed, so that a user can feel the speed control of straight-moving intuitively and can feel the speed control of rotating intuitively, the speed control requirement of the user can be met better, and the riding experience of the user on the mobile equipment is improved.
In an embodiment of the present invention, as shown in fig. 4, step S102 may further include:
s401, determining the area of the coordinate data in a preset anti-shake coordinate system.
In this embodiment, referring to fig. 5, the preset anti-shake coordinate system is divided into nine regions, which are respectively denoted as a first region Q1, a second region Q2, a third region Q3, a fourth region Q4, a fifth region Q5, a sixth region Q6, a seventh region Q7, an eighth region Q8, and a ninth region Q9.
S402, transforming the first coordinate and the second coordinate according to the located area.
Specifically, referring to fig. 6, transforming the first coordinate and the second coordinate according to the located area may include: if the area is the first area, the transformed first coordinate is 0, and the transformed second coordinate is 0, wherein the coordinates in the first area satisfy | x | ≦ x0 and | y | ≦ y0, x is the first coordinate, y is the second coordinate, and x0 and y0 are constants greater than 0; if the area is a second area, the transformed first coordinate is 0, and the transformed second coordinate is x-x0, wherein the coordinates in the second area satisfy x > x0 and | y | ≦ y 0; if the area is the third area, the transformed first coordinate is y-y0, and the transformed second coordinate is x-x0, wherein the coordinates in the third area satisfy x > x0 and y > y 0; if the region is a fourth region, the transformed first coordinate is y + y0, and the transformed second coordinate is x-x0, wherein the coordinates in the fourth region satisfy x > x0 and y < -y 0; if the area is the fifth area, the transformed first coordinate is 0, and the transformed second coordinate is x + x0, wherein the coordinates in the fifth area satisfy x < -x0 and | y | ≦ y 0; if the region is a sixth region, the transformed first coordinate is y-y0, and the transformed second coordinate is x + x0, wherein the coordinates in the sixth region satisfy x < -x0 and y > y 0; if the area is a seventh area, the transformed first coordinate is y + y0 and the transformed second coordinate is x + x0, wherein the coordinates in the seventh area satisfy x < -x0 and y < -y 0; if the area is the eighth area, the transformed first coordinate is y-y0, and the transformed second coordinate is 0, wherein the coordinates in the eighth area satisfy | x | ≦ x0 and y > y 0; if the area is the ninth area, the transformed first coordinate is y + y0, and the transformed second coordinate is 0, wherein the coordinates in the ninth area satisfy | x ≦ x0 and y < -y 0.
In this embodiment, referring to fig. 5, when the coordinate data is in the first area, both the first coordinate and the second coordinate are transformed to 0, which indicates that the mobile device is controlled to stop at this time; when the coordinate data is in the second area, converting the first coordinate into 0, which indicates that the mobile equipment is controlled to rotate clockwise at the moment; when the coordinate data is in the fifth area, converting the first coordinate into 0, which indicates that the mobile device is controlled to rotate anticlockwise at the moment; when the coordinate data is in the eighth area, converting the second coordinate into 0, which indicates that the mobile equipment is controlled to move forwards and straightly at the moment; when the coordinate data is in the ninth area, the second coordinate is converted into 0, which indicates that the mobile device is controlled to linearly move backwards at this time.
In the related art, a method of direct mapping of a manipulation device is adopted, when the mobile equipment is controlled to move in a straight line, the manipulation device cannot be accurately pushed in the y-axis direction due to the measurement error of the manipulation device and the control error of manual operation, so that the left wheel and the right wheel have speed difference, and the straight line walking is difficult to realize; in addition, when the operator cannot be accurately returned to the original position due to wear or the like due to long-term use, it is difficult for the operator to send a signal for returning the rocker by the direct mapping method, which may cause a risk that the wheelchair cannot be stopped. The first, second, fifth, eighth and ninth areas are arranged, so that the problems of high precision requirement on the operating device and difficulty in controlling linear walking can be solved through anti-shake coordinate transformation, and the problem of false triggering of the operating device by a user can be well solved.
It should be noted that, referring to fig. 5, if the proportional coefficients of the x-axis coordinates and the y-axis coordinates in the preset anti-shake coordinate system are equal, and the active area of the manipulating device is a square centered on the origin of coordinates, the values of x0 and y0 may be equal, and the specific values may be calibrated as needed, where the calibrated values are adjustable, for example, by a control terminal bound to the mobile device.
And S403, mapping according to the transformed first coordinate by using a preset first nonlinear function to obtain a target straight-moving speed, and mapping according to the transformed second coordinate by using a preset second nonlinear function to obtain a target rotating speed.
As an example, referring to fig. 7, the preset first non-linear function may be composed of three consecutive straight line segments, which may specifically be:
v is the target straight-line speed, Y' is the first coordinate after transformation, Y0, K1 and K2 are constants greater than 0, see fig. 7, K1 is V0/Y0, K2 is (Vmax-V0)/(127-Y0), K1 and K2 can be adjusted according to a control effect, and K2 is greater than K1, so that the increase rate of the target straight-line speed corresponding to the straight-line segments on two sides along with the increase of the first coordinate is greater than the increase rate of the target straight-line speed corresponding to the straight-line segment in the middle along with the increase of the first coordinate, and the mobile device has a certain anti-shake function at a high-speed stage and runs more stably; the requirement of a user for rapidly increasing the speed can be met in the low-speed stage, and the user experience is improved.
As an example, as shown in fig. 8, the preset second non-linear function may be composed of three consecutive straight line segments, which may specifically be:
w is a target rotation speed, X' is a transformed second coordinate, X0, K3 and K4 are constants larger than 0, see fig. 8, K3 is W0/X0, K4 is (Wmax-W0)/(127-X0), K3 and K4 can be adjusted according to a control effect, and K4 is larger than K3, so that the target rotation speeds corresponding to two side straight-line segments increase with the second coordinate and are larger than the target rotation speed corresponding to the middle straight-line segment increase with the second coordinate, and the mobile device has a certain anti-shaking function at a high-speed stage and runs more stably; the requirement of a user for rapidly increasing the speed can be met in the low-speed stage, and the user experience is improved.
To sum up, in the mapping method of the manipulation device according to the embodiment of the present invention, the coordinate data of the manipulation device is mapped to the target straight-moving speed and the target rotation speed of the mobile device by using the nonlinear function, so that the control resolution in different speed ranges can be changed, and the manipulation experience can be improved; by mapping according to the coordinate data in different regions, the problems of high precision requirement on the operating device and difficulty in controlling linear walking can be solved, and the false triggering on the operating device can be reduced.
Fig. 9 is a flowchart of a control method of a mobile device according to an embodiment of the present invention. In this embodiment, the mobile device may be a differentially-driven mobile device, such as a smart wheelchair.
As shown in fig. 9, the control method of the mobile device includes:
s901, obtaining a target straight-moving speed and a target rotation speed of the mobile device by using the mapping method of the manipulating apparatus of the above embodiment.
And S902, controlling the mobile equipment according to the target straight-moving speed and the target rotating speed.
Specifically, as shown in fig. 10, controlling the mobile device according to the target straight-moving speed and the target rotation speed may include:
and S1001, obtaining a target rotating speed of each driving wheel of the mobile equipment according to the target rotating speed and the target straight-moving speed by using a preset differential model.
As an example, the preset differential model may be:
where V is the target straight-ahead velocity, W is the target rotational velocity, D is the wheelbase between the left and right drive wheels of the mobile device, r is the radius of the left and right drive wheels, V l Is the target speed of the left driving wheel, v r The target rotational speed of the right driving wheel.
And S1002, controlling the mobile equipment according to the target rotating speed.
According to the control method of the mobile equipment, the mapping method of the operating device is used for mapping the coordinate data of the operating device into the target straight-moving speed and the target rotating speed of the mobile equipment by utilizing the nonlinear function, so that the control resolution in different speed ranges can be changed, and the control experience is improved; by mapping according to the coordinate data in different regions, the problems of high precision requirement on the operating device and difficulty in controlling linear walking can be solved, and the false triggering on the operating device can be reduced.
Further, the present invention proposes a computer-readable storage medium.
In one embodiment of the present invention, a computer-readable storage medium has stored thereon a computer program, which may be a mapping of an operator, and which, when executed by a processor, implements the above-described mapping method of an operator.
In another embodiment of the present invention, a computer program is stored on a computer-readable storage medium, and the computer program may be a control program of a mobile device, and when executed by a processor, the computer program realizes the control method of the mobile device described above.
Furthermore, the invention also provides mobile equipment.
In one embodiment of the invention, the mobile device comprises a memory, a processor and a computer program stored on the memory, which computer program may be a mapping of a manipulator, which computer program, when executed by the processor, implements the above-described method of mapping of a manipulator.
In another embodiment of the invention, a mobile device comprises a memory, a processor and a computer program stored on the memory, which computer program may be a control program of the mobile device, which computer program, when executed by the processor, implements the control method of the mobile device described above.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A mapping method for an operator, the method being for a mobile device, the method comprising:
acquiring coordinate data of a manipulation device, wherein the coordinate data comprises a first coordinate and a second coordinate;
and mapping the first coordinate to a target straight-moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target rotating speed of the mobile equipment according to a preset second nonlinear function.
2. The manipulation device mapping method of claim 1, wherein if the coordinate data of the manipulation device is taken from a non-preset anti-shake coordinate system, the method further comprises:
and converting the coordinate data of the manipulating device into coordinate data in the preset anti-shake coordinate system.
3. The manipulator mapping method according to claim 1 or 2, wherein the mapping the first coordinate to a target straight-moving speed of the mobile device according to a preset first non-linear function and mapping the second coordinate to a target rotational speed of the mobile device according to a preset second non-linear function comprises:
determining the area of the coordinate data in the preset anti-shake coordinate system;
transforming the first coordinate and the second coordinate according to the located area;
and mapping according to the transformed first coordinate by using the preset first nonlinear function to obtain the target straight-moving speed, and mapping according to the transformed second coordinate by using the preset second nonlinear function to obtain the target rotating speed.
4. The manipulator mapping method according to claim 3, wherein said transforming the first and second coordinates according to the region comprises:
if the area is a first area, the transformed first coordinate is 0, and the transformed second coordinate is 0, wherein the coordinates in the first area satisfy | x | ≦ x0 and | y | ≦ y0, x is the first coordinate, y is the second coordinate, and x0 and y0 are constants greater than 0;
if the area is a second area, the transformed first coordinate is 0, and the transformed second coordinate is x-x0, wherein the coordinates in the second area satisfy x > x0 and | y | ≦ y 0;
if the region is a third region, the transformed first coordinate is y-y0, and the transformed second coordinate is x-x0, wherein the coordinates in the third region satisfy x > x0 and y > y 0;
if the region is a fourth region, the transformed first coordinate is y + y0 and the transformed second coordinate is x-x0, wherein the coordinates in the fourth region satisfy x > x0 and y < -y 0;
if the area is a fifth area, the transformed first coordinate is 0, and the transformed second coordinate is x + x0, wherein the coordinates in the fifth area satisfy x < -x0 and | y | ≦ y 0;
if the located area is a sixth area, the transformed first coordinate is y-y0, and the transformed second coordinate is x + x0, wherein the coordinates in the sixth area satisfy x < -x0 and y > y 0;
if the area is a seventh area, the transformed first coordinate is y + y0 and the transformed second coordinate is x + x0, wherein the coordinates in the seventh area satisfy x < -x0 and y < -y 0;
if the area is an eighth area, the transformed first coordinate is y-y0, and the transformed second coordinate is 0, wherein the coordinates in the eighth area satisfy | x | ≦ x0 and y > y 0;
if the area is a ninth area, the transformed first coordinate is y + y0, and the transformed second coordinate is 0, wherein the coordinates in the ninth area satisfy | x | ≦ x0 and y < -y 0.
5. The operator mapping method according to claim 4, wherein the preset first non-linear function is:
wherein V is a target straight-ahead speed, Y' is the transformed first coordinate, Y0, K1, K2 are constants greater than 0, and K2 > K1.
6. The operator mapping method according to claim 4, wherein the preset second non-linear function is:
wherein W is a target rotation speed, X' is the transformed second coordinate, X0, K3, K4 are all constants greater than 0, and K4 > K3.
7. A method for controlling a mobile device, comprising:
obtaining a target straight-moving speed and a target rotating speed of the mobile equipment by using the mapping method of the operating device according to any one of claims 1-6;
and controlling the mobile equipment according to the target straight-moving speed and the target rotating speed.
8. The method of controlling a mobile device according to claim 7, wherein the controlling the mobile device according to the target straight-moving speed and the target rotational speed includes:
obtaining a target rotating speed of each driving wheel of the mobile equipment according to the target rotating speed and the target straight-moving speed by using a preset differential model;
and controlling the mobile equipment according to the target rotating speed.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a mapping method of an operating device according to any one of claims 1 to 6, or a control method of a mobile device according to any one of claims 7 to 8.
10. A mobile device comprising a memory, a processor and a computer program stored on the memory, characterized in that the computer program, when executed by the processor, implements a mapping method of an operating means according to any of claims 1-6 or implements a control method of a mobile device according to any of claims 7-8.
Priority Applications (1)
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